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DA180-S2R8SG0
INVT DA180-S2R8SG0 User Manual
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DA180 serie
s basic
AC servo
drive
Overview
-
12
-
No.
Descript
ion
Example
⑥
Cable mate
rial
0: Common
cable
F: Flexible
towline cable
⑦
Encoder typ
e
04: 17-bit/23-bi
t absolu
te
Serial no.
00: Standard
part
01: Serial
number for a
non-standard
part
...
1.3.5 Encoder cable accessory naming
No.
Descript
ion
Example
①
Product ser
ies
Manufactur
er use only
②
Encoder
cable
EL: Encoder
cable
⑤
Motor conn
ection plug
B: 15-pin regul
ar avia
tion plug YD
28
C: 9-pin me
tal
plug
⑨
Drive conne
ction plug
A
:
15
-pin
DB
plug
1.3.6 Motor brake cable naming
No.
Descript
ion
Example
①
Product ser
ies
BRKL: Mo
tor brake cabl
e
②
Cable leng
th
10: 10m
③
Motor conn
ection plug
A: 2-pin me
tal plug
B: 3-pin regula
r aviation
plug
C: 3-pin
metal plug
17
19
Table of Contents
Table of Contents
5
Preface
2
Safety Precautions
3
Table of Contents
5
1 Overview
7
Servo Drive
8
Drive Introduction
8
Outline Drawing
12
Drive Naming
13
Drive Nameplate
13
Servo Motor
14
Drive Ratings and Frame Sizes
14
Motor Nameplate
14
Motor Naming
14
Cables
16
Cable Nameplate
16
Power Cable Naming
16
Power Cable Accessory Naming
17
Encoder Cable Naming
17
Encoder Cable Accessory Naming
18
Motor Brake Cable Naming
18
Brake Resistor Specifications
19
2 Installation Instructions
20
Drive Dimensions
21
Dimension Drawing for Frame Size A/B
21
Models and Dimensions
21
Drive Installing
22
Installation Mode
22
Installation Directions and Clearances
23
Motor Outline and Mounting Dimensions
24
For Base-60 Motors
24
For Base-80 Motors
24
Motor Installing
25
Servo-Motor Technical Parameters
25
For Base-130 Motors
25
For Motors (Using Multiturn Absolute Encoders)
25
3 Wiring Instructions
26
System Wiring
27
Input Power Cable Requirements
28
Control Cable Requirements
28
Main Circuit Cable Diameters
29
EMI Filter Models
29
Main Circuit Terminal Wiring (1PH 220V)
30
Motor Encoder Cable Wiring
31
Power Cable for Base-60/80 Motors Using 17- or 23-Bit Encoders
31
Power Cable for Base-130 Motors Using 17- or 23-Bit Encoders
31
Cable for 17- or 23-Bit Encoder Used by Base-60/80 Motors
31
Motor Power Cable Wiring
31
Wiring for Control I/O Terminal CN1
32
Cable for 17- or 23-Bit Encoder Used by Base-130 Motors
32
Wiring for Encoder Terminal CN2
33
Wiring for RS485/CAN Communication Terminal CN3
33
Wiring for Second-Encoder Terminal CN5
34
Wiring for USB Terminal CN4
34
4 Control Modes
36
Standard Wiring Diagram for Position Control
37
Standard Wiring Diagram for Speed Control
38
Standard Wiring Diagram for Torque Control
39
CN1 Function Description
40
CN1 Pins
40
CN1 Pin Functions
40
Power Signals
41
Default Digital Settings in Different Modes
41
Pulse Input Signals and Functions
55
Analog Input Signals and Functions
55
Encoder Output Signals and Functions
55
Wiring Description for CN1
56
Digital Input Circuit Wiring
56
Pulse Input Circuit Wiring
56
Analog Input Circuit Wiring
58
Digital Output Circuit Wiring
59
Frequency-Division Output Circuit Wiring of Encoder Feedback Signals
59
Wiring Description for CN5
60
Electromagnetic Brake Wiring
60
5 Operating and Running
61
Running
62
First Power-On
62
Trial Run by Jogging
63
Running in Position Control Mode
64
Running in Speed Control Mode
65
Running in the Torque Control Mode
66
Setting Parameters before Servo Running
67
Servo Enabling
67
Servo Stop and Running Stop
68
Timing Sequence
69
Display and Operating
72
Display
72
Common Monitoring Mode
74
Monitoring Mode
75
Parameter Setting Mode
75
Auxiliary Function Mode
76
Alarm Reporting
78
Alarm Clearing
79
Function Codes
80
Basic Control (Group P0)
81
Basic Settings
81
Position Control
91
Speed and Torque Control
96
Control Mode Switching
107
Autotuning Control (Group P1)
108
Inertia Identifying (or Automatic Gain)
108
Self-Adaptive Vibration Control
111
Motor Control (Group P2)
115
Gain Settings
115
Gain Switching
119
Special Motor Control
124
I/O Management (Group P3)
129
Digital Input/Output
129
Analog Input/Output
135
Digital Input/Output Associated Settings
141
Extension and Application (Group P4)
146
Communication
146
Servo Types and Communication Control Commands
149
Extension and Application
153
Frequency-Division Output and Second-Encoder Settings
158
Special Commands
162
Program Jog, Homing, and PTP Control (Group P5)
164
Program Jog Settings
164
Homing
167
PTP Control
170
Application Functions (Group P6)
178
PTP Control (Groups Ptp0, Ptp1, and Ptp2)
184
Status Monitoring
218
System Monitoring (Group R0)
218
I/O Monitoring (Group R1)
230
Fault Recording (Group R3)
232
7 Commissioning
235
Instructions on Identifying Inertia
236
General Methods for Adjusting Parameters
237
Adjusting Gains in Position Mode
239
Adjusting Gains in Speed Mode
241
Adjusting Gains in Torque Mode
242
Mechanical Resonance Suppressing
243
Gains Switching
244
8 Communication
248
Default Chapter
249
General Description
249
Rs485
249
Modbus Protocol Description
249
Protocol Application
249
Command Codes
250
Communication Frame Structure
250
Checking for Communication Frame Errors
252
Responding to Errors
253
Canopen
254
Protocol Description
254
Hardware Configuration
254
Software Configuration
254
Supported Functions
255
Upper Computer Software
260
Servoplorer
260
Hardware
260
Software
260
Communication Connection
260
Installing and Running
261
Program Interface
262
Setting Parameters
262
Using the Help Manual
262
Using the Oscilloscope
263
9 Fault Handling
264
Servo Drive Faults and Workarounds
265
Canopen Communication Faults and Workarounds
275
10 Appendix
278
Parameters about Settings
279
Parameters about Monitoring
305
Common Monitoring Parameters
309
Fault Codes
310
Parameter Setting History
315
4
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INVT DA180-S2R8SG0 Specifications
General
Brand
INVT
Model
DA180-S2R8SG0
Category
Servo Drives
Language
English
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